James Drew jdrew1303

Autonomous Mobile Robot (Experimental)

Introduction

The aim of this project is to create mobile robot that can navigate correctly in-door environment. The robot can scan and save surrounding environment as occupancy grid, then basing on that map, it can localize and navigate itself on scanned map. Due to these capabilites, the robot can plan a path from A to B as instructed via Rviz on global map (scanned map), it can also detect unknown obstacles during operation and plan a local path to robustly avoid them and ensure the success of navigation task.

Link to github: https://github.com/anindex/navigation-processing-base

Building robot (Hardware part)

Installing ROS Kinetic on Mac OS X - El Capitan and macOS Sierra

Having rather painlessly installed ROS Indigo on El Capitan using Mike Purvis's script, I attempted to upgrade to ROS Kinetic. This gist outlines the problems I encoutered and how I solved them. Hopefully this guide will help others attempting to install ROS Kinetic / Gazebo 7 on El Capitan.

ROS Install OSX

Start with Mike Purvis's script, which currently is setup to install ROS Indigo. In order to install Kinetic instead of Indigo, make sure to set the ROS_DISTRO environment variable: export ROS_DISTRO=kinetic.

After you get through rosdep errors, it's quickest to just work with the catkin config ... and catkin build ... commands directly. In fact, I found it most helpful to leave my catkin workspace terminal open at ros-install-osx/kinetic_desktop_full_ws and t

The document provides description on calibration of three Kinect for Microsoft sensors connected to one computer with several usb controllers. Three cameras setup is shown below:

![Figure 1] (http://i.imgur.com/sdOWbVl.jpg)

Intrinsic, extrinsic, and Kinect2Kinect calibration is performed to know the position of each sensor in the space. Our setup is ROS Indigo with Ubuntu 14.04. freenect_launch and camera_pose ROS packages are used. Camera_pose package provides the pipeline to calibrate the relative 6D poses between multiple camera's. freenect_launch package contains launch files for using OpenNI-compliant devices in ROS. It creates a nodelet graph to transform raw data from the device driver into point clouds, disparity images, and other products suitable for processing and visualization. It is installed with catkin as follows:

# Prep

How to make a debian from a ROS package

The instructions are based on this answers.ros.org thread.

Get dependencies

You may need the latest pip, follow the official instructions.

Install bloom:

	sudo apt-get update
	sudo apt-get install -y build-essential gdebi
	mkdir -p ~/tmp
	wget https://github.com/nomumu/Kinetic4RPiZero/releases/download/v_2017-10-15/rpi-zerow-kinetic_1.0.0-1_armhf.zip
	unzip rpi-zerow-kinetic_1.0.0-1_armhf.zip
	sudo gdebi rpi-zerow-kinetic_1.0.0-1_armhf.deb
	sudo /opt/ros/kinetic/initialize.sh

	#!/usr/bin/env python

	import math
	from math import sin, cos, pi

	import rospy
	import tf
	from nav_msgs.msg import Odometry
	from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Vector3

	class ConnectPythonLoggingToROS(logging.Handler):

	MAP = {
	logging.DEBUG:rospy.logdebug,
	logging.INFO:rospy.loginfo,
	logging.WARNING:rospy.logwarn,
	logging.ERROR:rospy.logerr,
	logging.CRITICAL:rospy.logfatal
	}

	# install miniconda
	cd
	wget http://repo.continuum.io/miniconda/Miniconda-3.5.5-Linux-armv6l.sh
	md5sum Miniconda-3.5.5-Linux-armv6l.sh
	bash Miniconda-3.5.5-Linux-armv6l.sh -b
	rm -rf Miniconda-3.5.5-Linux-armv6l.sh
	echo 'export PATH=/home/pi/miniconda/bin:$PATH' >> .bashrc
	source .bashrc
	conda install pip --yes
	conda install ipython --yes

	FROM ros:indigo-ros-base
	# install ros tutorials packages
	RUN apt-get update && apt-get install -y \
	ros-indigo-ros-tutorials \
	ros-indigo-common-tutorials \
	&& rm -rf /var/lib/apt/lists/